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Do you have any plans for detecting the target? I thin it would be a very interesting project to try to scale the vision processing along the curvature functions of the mirror.
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Detect the target is relatively easy, the main trouble is provide to CRIO how much far it's from the robot.
We think that the image processing for transform a circular image in a plane image to get the location of the target will make our live stream lost quality (you'll need to reorganize yours image pixels based on quadrants of circle).
Today we have less than .5s of lag (we improve the Dashboard processing for this) and, if we need to calculate the angle between robot and target to provide the location at robot this lag will extend.
So we don't pretend to use the camera by the spherical mirror for any automatic control.
Our main purpose is provide a good vision to our drive and indicate completely what is an ball on image!!!
Today we are implementing the mechanism that will make the mirror rise up and down in order to let us go trough the tunnel!
I'll post the news!
Thanks for the atention!